[ros-users] AMCL general Disuccsion

[Suraj Swami]

Hi,

I have some general question about AMCL. I am not sure if this the right
place to ask. Just that I am working on my own so I need some guidance.

I have written Monte Carlo localization algorithm in Matlab. And I am now
writing it in ROS such that I make the required modification as per my
environment and use it for a practical robot. If it works out very good I
would even like to make it open source so that it is available on ros
repositories.

Would you recommend me to make modification in the present amcl node or
write from scratch ?

I am confused whether to use OpenCV or Geometry package for matrix and maths
operations.

What would be the parameters to check the efficiency of my program. I will
be mainly focusing on Pose Calculation time and ability to handle kidnapping
problem. I guess these are solved problems. So there any thing this I must
be really concerned about.

I am referring to book the "Probabilistic Robotics" and papers from IEEE.

Do you recommend any specific package that would help me.

Thank you.

Regards,
Suraj Swami
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